Ferry Musters / Mbed 2 deprecated Odacon_RotaryEncoderReadout

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Dependencies:   mbed

main.cpp@0:e3161ef4ffd9, 2019-09-16 (annotated)

Committer:
Ferryy
Date:
Mon Sep 16 10:17:12 2019 +0000
Revision:
0:e3161ef4ffd9
Working version of rotary encoder readout software.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Ferryy 0:e3161ef4ffd9 1 /*
Ferryy 0:e3161ef4ffd9 2 Software to read out rotary encoder through serial terminal readout
Ferryy 0:e3161ef4ffd9 3 Rotary encoder: YUMO E6B2-CWZ3E
Ferryy 0:e3161ef4ffd9 4 Connections: Brown to 5V supply on board
Ferryy 0:e3161ef4ffd9 5 Blue to Ground (0V) on board
Ferryy 0:e3161ef4ffd9 6 Data lines White and black to A0 and A1 (not sure which to which)
Ferryy 0:e3161ef4ffd9 7 Orange not connected (open)
Ferryy 0:e3161ef4ffd9 8
Ferryy 0:e3161ef4ffd9 9 Code based on "Nucleo_Hello_Encoder" on mbed by David Lowe:
Ferryy 0:e3161ef4ffd9 10 https://os.mbed.com/users/gregeric/code/Nucleo_Hello_Encoder/
Ferryy 0:e3161ef4ffd9 11
Ferryy 0:e3161ef4ffd9 12 Odacon B.V. - Ferry Musters - 2019
Ferryy 0:e3161ef4ffd9 13 */
Ferryy 0:e3161ef4ffd9 14
Ferryy 0:e3161ef4ffd9 15 #include "mbed.h"
Ferryy 0:e3161ef4ffd9 16 #include "Encoder.h"
Ferryy 0:e3161ef4ffd9 17
Ferryy 0:e3161ef4ffd9 18 //STM mbed bug: these macros are MISSING from stm32f3xx_hal_tim.h
Ferryy 0:e3161ef4ffd9 19 #ifdef TARGET_STM32F3
Ferryy 0:e3161ef4ffd9 20 #define __HAL_TIM_GET_COUNTER(__HANDLE__) ((__HANDLE__)->Instance->CNT)
Ferryy 0:e3161ef4ffd9 21 #define __HAL_TIM_IS_TIM_COUNTING_DOWN(__HANDLE__) (((__HANDLE__)->Instance->CR1 &(TIM_CR1_DIR)) == (TIM_CR1_DIR))
Ferryy 0:e3161ef4ffd9 22 #endif
Ferryy 0:e3161ef4ffd9 23
Ferryy 0:e3161ef4ffd9 24 Serial pc(USBTX, USBRX); // tx, rx
Ferryy 0:e3161ef4ffd9 25
Ferryy 0:e3161ef4ffd9 26 TIM_Encoder_InitTypeDef encoder1, encoder2, encoder3, encoder4;
Ferryy 0:e3161ef4ffd9 27 TIM_HandleTypeDef timer1, timer2, timer3, timer4;
Ferryy 0:e3161ef4ffd9 28
Ferryy 0:e3161ef4ffd9 29 int main()
Ferryy 0:e3161ef4ffd9 30 {
Ferryy 0:e3161ef4ffd9 31 //counting on both A&B inputs, 4 ticks per cycle, full 32-bit count
Ferryy 0:e3161ef4ffd9 32 EncoderInit(&encoder2, &timer2, TIM2, 0xffffffff, TIM_ENCODERMODE_TI12);
Ferryy 0:e3161ef4ffd9 33
Ferryy 0:e3161ef4ffd9 34 uint32_t lastvalue = __HAL_TIM_GET_COUNTER(&timer2);
Ferryy 0:e3161ef4ffd9 35 int overflowcount = 0;
Ferryy 0:e3161ef4ffd9 36 while(1) {
Ferryy 0:e3161ef4ffd9 37 uint32_t currentvalue =__HAL_TIM_GET_COUNTER(&timer2);
Ferryy 0:e3161ef4ffd9 38 int8_t dir = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2);
Ferryy 0:e3161ef4ffd9 39
Ferryy 0:e3161ef4ffd9 40 float pulsesperrevolution = 1024*4;
Ferryy 0:e3161ef4ffd9 41 //keep track of a possible overflow
Ferryy 0:e3161ef4ffd9 42 if((float)lastvalue - (float)currentvalue > 30000) { //with this huge value we must have an overflow
Ferryy 0:e3161ef4ffd9 43 //pc.printf("Overflow happened, curval: %d lastval: %d, overflowcount: %d\r\n", currentvalue, lastvalue, overflowcount);
Ferryy 0:e3161ef4ffd9 44 overflowcount++;
Ferryy 0:e3161ef4ffd9 45 }
Ferryy 0:e3161ef4ffd9 46 if((float)currentvalue - (float)lastvalue > 30000) { //underflow
Ferryy 0:e3161ef4ffd9 47 //pc.printf("Underflow happened, curval: %d lastval: %d, overflowcount: %d\r\n", currentvalue, lastvalue, overflowcount);
Ferryy 0:e3161ef4ffd9 48 overflowcount--;
Ferryy 0:e3161ef4ffd9 49 }
Ferryy 0:e3161ef4ffd9 50 float pulsevalue = (float) currentvalue + (float) overflowcount * 0x10000;
Ferryy 0:e3161ef4ffd9 51 float fullrotations = (currentvalue/pulsesperrevolution) + overflowcount * 0x10000/pulsesperrevolution;
Ferryy 0:e3161ef4ffd9 52
Ferryy 0:e3161ef4ffd9 53 char inchar = ' ';
Ferryy 0:e3161ef4ffd9 54 scanf("%c",&inchar);
Ferryy 0:e3161ef4ffd9 55 if(inchar == 'i' || inchar == 'I') {
Ferryy 0:e3161ef4ffd9 56 pc.printf("Rotary\r\n");
Ferryy 0:e3161ef4ffd9 57 } else if(inchar == 'm' || inchar == 'M') {
Ferryy 0:e3161ef4ffd9 58 pc.printf("%f\r\n", fullrotations);
Ferryy 0:e3161ef4ffd9 59 //pc.printf("%d, %f%s \r\n", overflowcount, fullrotations, dir==0 ? "+":"-");
Ferryy 0:e3161ef4ffd9 60 //pc.printf("%d: %f%s \r\n", i++, (currentvalue/pulsesperrevolution), dir2==0 ? "+":"-");
Ferryy 0:e3161ef4ffd9 61 } else if(inchar == 'p' || inchar == 'P') {
Ferryy 0:e3161ef4ffd9 62 pc.printf("%f\r\n", pulsevalue);
Ferryy 0:e3161ef4ffd9 63 }
Ferryy 0:e3161ef4ffd9 64 lastvalue = currentvalue;
Ferryy 0:e3161ef4ffd9 65 }
Ferryy 0:e3161ef4ffd9 66 }
Ferryy 0:e3161ef4ffd9 67